To provide an attitude control device capable of controlling the swing and the rotation of a suspended load while suppressing that the weight of the device itself is added to a crane.SOLUTION: A suspended load attitude control device of a crane comprises a suspended load holding part to hold the suspended load, a propeller attached to the suspended load holding part and to generate an airflow toward vertically the downward direction by rotating blades around a rotating axis extending vertically, a diversion pert to divert the airflow generated by the propeller, and a control part to control the direction of the diversion part. The control part has a rotation detecting part to detect the presence or absence of the suspended load rotation, a rotation control part to change the direction of the diversion part so that the airflow direction is tilted toward the front of the suspended load in the rotation direction, a rolling detector to detect the presence or absence of the swing in the suspended load horizontal direction, and a rolling control part to change the direction of the diversion part so that the airflow direction is tilted toward the front of the suspended load in the swing direction.SELECTED DRAWING: Figure 6
【課題】クレーンに装置自身の重量が付加されることを抑制しつつ、吊荷の振れや回転を制御することができる姿勢制御装置を提供する。【解決手段】クレーンの吊荷の姿勢制御装置は、前記吊荷を保持する吊荷保持部と、前記吊荷保持部に取り付けられ、鉛直方向に延びる回転軸回りに羽根を回転させて鉛直方向の下方に向かう気流を発生させる推進器と、前記推進器が発生させた前記気流を転向させる転向部と、前記転向部の向きを制御する制御部と、を備え、前記制御部は、前記吊荷の回転の有無を検出する回転検出部と、前記気流の流れ方向が前記吊荷の回転方向の前方側に傾くように前記転向部の向きを変更する回転制御部と、前記吊荷の水平方向への揺れの有無を検出する横揺れ検出部と、前記気流の流れ方向が前記吊荷の揺れ方向の前方側に傾くように前記転向部の向きを変更する横揺れ制御部と、を有する。【選択図】図6
ATTITUDE CONTROL DEVICE, ATTITUDE CONTROL METHOD, AND PROGRAM
姿勢制御装置、姿勢制御方法、およびプログラム
2024-11-29
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |
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